New performance indices for 6-dof UPS and 3-dof RPR parallel manipulators

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• 作者：Georg Nawratil
• 关键词：6-dof UPS manipulators ; 3-dof RPR manipulators ; Performance index ; Condition number ; Control number ; Characteristic length ; Design optimization
• 刊名：Mechanism and Machine Theory
• 出版年：2009
• 出版时间：January 2009
• 年：2009
• 卷：44
• 期：1
• 页码：208-221
• 全文大小：879 K

文摘

In this paper we introduce two new posture-dependent performance indices for 6-dof UPS and 3-dof RPR parallel manipulators. One is based on an object-oriented metric in the workspace (end-effector dependent) and the other one takes the angular velocities of the passive joints into consideration (end-effector independent). Both newly defined indices are invariant under rigid-body motions and similarities, they have a geometric meaning, and they can be computed in real time. Moreover these indices can also be used for robot design, especially the end-effector independent index is suited for that problem by taking the geometry of the manipulator into consideration. We also optimize the design of 6-dof UPS and 3-dof RPR parallel manipulators with respect to both newly presented indices.